You do not need a billion-dollar space telescope to contribute to asteroid science. Experienced amateur astronomers with capable equipment can measure where a small body appears against background stars and submit those observations through established channels.
The Minor Planet Center acts as the international clearinghouse, combining reports from professional surveys and qualified observers. One position is a dot; many positions across multiple nights reveal motion. The longer the observing arc, the better astronomers can understand an orbit.
YR4 eventually became too faint for ordinary ground-based follow-up, which is why Webb’s later observations were so valuable. When it brightens again, the larger campaign will once more depend on many eyes and many instruments. Few fields let a carefully measured backyard image contribute to the forecast of an object passing through the Earth–Moon system.